CN203973537U - A kind of robot for professional lathe - Google Patents
A kind of robot for professional lathe Download PDFInfo
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- CN203973537U CN203973537U CN201420387327.4U CN201420387327U CN203973537U CN 203973537 U CN203973537 U CN 203973537U CN 201420387327 U CN201420387327 U CN 201420387327U CN 203973537 U CN203973537 U CN 203973537U
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- driver
- drive
- robot
- claw
- base arm
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Abstract
The utility model relates to a kind of robot, particularly a kind of robot for professional lathe.Its design feature is: comprise claw, lifting drives structure, rotary drive structure and telescopic drive structure, claw is fixed in lifting drives structure, lifting drives structure is connected with rotary drive structure by base arm, and rotary drive structure is connected with telescopic drive structure by substrate; The lifting driver of lifting drives structure is fixed on the surface of base arm, and drive rod one end is connected to lifting driver, and the other end is connected by rotating shaft with drive link cardinal extremity, and drive link far-end is fixed on the first long limit of parallelogram sturcutre; Drive rod one end of rotary drive structure connects rotating driver, and the other end is fixedly attached to the face of cylinder of swivel bearing, and swivel bearing is fixedly connected with base arm.The utility model is simple in structure, size is little, cost is low, can be used as product removal device or plugin card installation device, and service speed is fast, efficiency is high, and exploitativeness is strong.
Description
Technical field
The utility model relates to a kind of robot, particularly a kind of robot for professional lathe.
Background technology
Existing product removal device normally adopts along the claw structure of x, y and z axes rectilinear movement, is connected with injection molding machine, and the product that claw can be removed needs is sent near the container being arranged on injection molding machine.But such structure has an obvious defect: because claw need to move in x, y and z axes, thus the length and width of device and the high displacement that is at least x, y and z axes upper clipping claw, thus cause the size of device large, weight is large and take up room large.
Someone proposed a kind of improved products removal device, and it uses an articulated robot with multiple pitman arm parts, to reduce moving area, reduced size and took up room.But this articulated robot also has shortcoming: need other drives structure to adjust the direction of claw, and because elemental motion produces by the rotation of association part separately, in the time that claw moves linearly, two arms divide and must synchronous rotary equal angular move in the mode of combination.
This causes the quantity of parts to increase, and the difficulty of design control system increases, and improves by the complexity of software and hardware the cost bringing and increase.Meanwhile, the overall size of product removal device and weight increase.Especially, conventional product removal device displacement is in vertical direction large, but the speed that product is removed is difficult to raising, and therefore the efficiency of conventional product removal device is not high.
Summary of the invention
Technical problem to be solved in the utility model is to provide a kind of reasonable in design, small size, is applicable to cheaply the robot of professional lathe.
It is as follows that the utility model solves the problems of the technologies described above adopted technical scheme:
A kind of robot for professional lathe, comprise claw, lifting drives structure, rotary drive structure and telescopic drive structure, claw is fixed in lifting drives structure, lifting drives structure is connected with rotary drive structure by base arm, and rotary drive structure is connected with telescopic drive structure by substrate; Lifting drives structure comprises lifting driver, drive rod, drive link and parallelogram sturcutre, lifting driver is fixed on the surface of base arm, drive rod one end is connected to lifting driver, the other end is connected by rotating shaft with drive link cardinal extremity, and drive link far-end is fixed on the first long limit of parallelogram sturcutre; Rotary drive structure comprises rotating driver, drive rod and swivel bearing, and drive rod one end connects rotating driver, and the drive rod other end is fixedly attached to the face of cylinder of swivel bearing, and the upper bottom surface of swivel bearing is fixed on base arm.The structure of lifting driver, rotating driver and telescopic driver is the same, and one end is provided with expansion link; Telescopic drive structure comprises telescopic driver and connecting rod, and telescopic driver is connected to one end of connecting rod, the bottom surface of the other end connection substrate of connecting rod; Lifting driver is fixed on the surface of base arm by carriage rotation away from the one end that is provided with the first expansion link, the first contracting bar connects the first drive rod one end away from drive link; Claw is fixed on the first minor face of parallelogram sturcutre, and the second minor face of parallelogram sturcutre is arranged on the guide rail on base arm surface; Between the long limit of parallelogram sturcutre and minor face, be rotatably connected; Upper surface of base plate one end is provided with cylindrical bar, and swivel bearing rotation is wrapped in outside cylindrical bar, and the other end is provided with bracket, and bracket is rotatably connected away from second expansion link one end with rotating driver.
Robot for professional lathe described in the utility model can be used as product removal device, also can be used as plugin card installation device.
As preferably, claw is fixed on the first minor face of the parallelogram sturcutre in lifting drives structure, thereby do not need other drives structure to control the direction of claw, reduce the displacement of claw in the vertical direction simultaneously, improve speed and efficiency that product is removed.
As preferably, the connecting rod of telescopic drive structure is fixed on the back side of substrate near cylindrical bar one end, so can reduce the required space taking of this device and overall size.
As preferably, the structure of lifting driver, rotating driver and telescopic driver is the same, all adopt the expansion link band mobile robot running of little displacement, reduce manufacture difficulty of the present utility model, complexity and cost on the one hand, improved on the other hand running speed and efficiency.
As preferably, parallelogram sturcutre is provided with multiple connecting holes by a long limit of rotating shaft connection for transmission bar, therefore can select according to specific needs link position, strengthens practicality.
The utility model compared with the existing technology has the following advantages and effect: 1, owing to using three identical drivers, level of control displacement, the anglec of rotation and vertical displacement respectively, mechanical system and control system are simplified, and can be arranged on a jiao of professional lathe, so reduced total weight, size and taken up room, having reduced cost; 2, owing to adopting the first anglec of rotation of claw, then the mode of carrying out horizontal displacement and vertical displacement captures product, so reduced total distance that claw is advanced, improved efficiency; 3,, owing to adopting bar linkage structure, so can guarantee the lifting of claw in the vertical direction, improve the precision that captures product; 4, because the posture of claw remains unchanged, do not need rotation, remove speed so improved product; 5, because a long limit of parallelogram sturcutre is provided with multiple connecting holes, therefore can select according to specific needs the length of link position and drive link, strengthen practicality.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the front view of the utility model embodiment 1.
Fig. 2 is the side view of the utility model embodiment 1.
Fig. 3 is the fragmentary cross-sectional view of the utility model embodiment 1.
Fig. 4 is the plan view of the rotary drive structure of the utility model embodiment 1.
Fig. 5 is the fundamental diagram of the claw of the utility model embodiment 1.
Label declaration: 1: product removal device; 2: bar linkage structure; 3: parallelogram sturcutre; 301: the first long limit of parallelogram; 302: the second minor face of parallelogram sturcutre; 303: the second long limit of parallelogram; 304: the first minor face of parallelogram; 4: claw; 5: base arm; 6: guide rail; 7: drive link; 701: the cardinal extremity of drive link; 702: the far-end of drive link; 8: lifting drives structure; 101: the length of drive link; 102: the length on the long limit of parallelogram sturcutre; 11: rotary drive structure; 12: telescopic drive structure; 21:A rotating shaft; 22:A bearing; 23: the first drive rods; 24: telescopic driver; 2401: the first expansion links; 25:A bracket; 2601,2602,2603,2604:B rotating shaft; 2701,2702,2703,2704:B bearing; 29:B rotating shaft; 30:C bearing; 31: base arm; 32: cylindrical bar; 33: swivel bearing; 34: the second drive rods; 35: rotating driver; 3501: the second expansion links; 36:B bracket; 41: housing; 42: linear bearing; 43: slider; 44: telescopic driver; 4401: the three expansion links; 46: connecting rod; 51: fixed station; 52: pull bar; 53: movable plate; 54: injection molding machine; 55: flask clamp device; 56: steadily mould; 61: container; 62: note pressure device.
Detailed description of the invention
Below in conjunction with embodiment, the utility model is described in further detail, following examples are to explanation of the present utility model and the utility model is not limited to following examples.
Embodiment 1: as shown in Fig. 1 to 5, product removal device 1 is by claw 4, lifting drives structure 8, rotary drive structure 11 and telescopic drive structure 12 form, lifting drives structure comprises lifting driver 24, the first drive rod 23, drive link 7 and parallelogram sturcutre 3, rotary drive structure 11 comprises rotating driver 35, the second drive rod 34 and swivel bearing 33, telescopic drive structure 12 comprises telescopic driver 44 and connecting rod 46, claw 4 is fixed on the first minor face 304 of parallelogram sturcutre 3, lifting drives structure 8 is connected with rotary drive structure 11 by base arm 5, rotary drive structure 11 is fixedly connected with telescopic drive structure 12 by substrate 31, telescopic drive structure 12 is fixed on the housing 41 of professional lathe.
Base arm 5 is arranged to horizontal-extending, level and be rotatably connected to one end of base arm 5 perpendicular to the A rotating shaft 21 of base arm 5 bearing of trends by A bearing 22.Lifting driver 24 is arranged on the surface of base arm 5, is positioned at same surface with one end of the A rotating shaft 21 of protruding on base arm surface.Lifting drives structure 8 comprises A rotating shaft 21, lifting driver 24, the first drive rod 23 and bar linkage structure 2.Bar linkage structure 2 is connected to base arm 5 one end by A rotating shaft 21, bar linkage structure 2 comprises drive link 7 and parallelogram sturcutre 3, and parallelogram sturcutre 3 comprises the first long limit 301, the second long limit 303 and the first minor face 304, the second minor face 302 that form parallelogram.The first long limit 301 and the first minor face 304 are rotatably connected to each other by B rotating shaft 2601 and B bearing 2701; The first long limit 301 and the second minor face 302 are by B rotating shaft 2602 and B bearing 2702 is rotatable is connected to each other; The second minor face 302 and the second long limit 303 are by B rotating shaft 2603 and B bearing 2703 is rotatable is connected to each other; The second long limit 303 and the first minor face 304 are by B rotating shaft 2604 and bearing 2704 is rotatable is connected to each other.The second minor face 302 can slide on the guide rail 6 that is horizontally fixed on base arm 5 surfaces.Claw 4 is supported by the first minor face 304, and it can pick up and put next molded product.On 4 of claws, be typically provided with negative pressure suction device or product grabbing device, in order to pick up product.
Lifting driver 24 one end are provided with the first expansion link 2401, the first expansion link 2401 far-ends are rotatably the one end that is connected to the first drive rod 23, and lifting driver 24 is rotatably coupled to and is fixed on base arm 5 surfaces away from the A bracket 25 that connects A rotating shaft 21 one end away from one end of the first expansion link 2401.The other end of the first drive rod 23 is fixedly connected with to protrude and is fixedly connected with in A rotating shaft 21 one end on base arm 5 surfaces, A rotating shaft 21 other ends are fixedly connected with the cardinal extremity 701 of drive link 7, and the far-end 702 of drive link 7 is fixedly attached to the point midway on the first long limit 301 of parallelogram sturcutre 3 by B rotating shaft 29.
The course of work of lifting driver 24 is: as shown in Figure 1, in the time that lifting driver 24 is controlled the first expansion link 2401 and is stretched, drive the first drive rod 23 to move clockwise, then the first drive rod 23 drives A rotating shaft 21 to move clockwise, then drive link 7 is also driven clockwise motion by A rotating shaft 21, subsequently under the drive of drive link 7, parallelogram sturcutre the second minor face 302 slides on guide rail 6, thereby claw 4 moves downward in the direction of motion perpendicular to the second minor face 302 (being vertical direction).In like manner, in the time that lifting driver 24 is controlled the first expansion link 2401 contracting, claw 4 moves upward in the direction of motion perpendicular to the second minor face 302 (being vertical direction), thereby realizes the oscilaltion campaign of claw 4.
The length on the first long limit 301 of parallelogram 3 is 102; Be the distance between B rotating shaft 2601 and 2602, the length of drive link 7 is 101; It is the distance between B rotating shaft 29 and A rotating shaft 21.In the present embodiment, the length 101 of drive link 7 is set to the half of the first long limit 301 length 102 of parallelogram 3.
Base arm 5 is fixedly connected with rotary drive structure 11 by swivel bearing 33 near the downside of one end of A bracket 25.Rotary drive structure 11 is provided with the cylindrical bar 32 of substrate 31 1 end surfaces in level protruding upward and rotates the swivel bearing 33 that is wrapped in cylindrical bar 32 outsides; Substrate 31 is fixed with B bracket 36 away from the surface of one end of cylindrical bar 32, and it rotatably connects rotating driver 35 one end; Rotating driver 35 other ends are provided with the second expansion link 3501, and its far-end is rotatably connected to one end of the second drive rod 34; The other end of the second drive rod 34 is fixedly attached on the face of cylinder of swivel bearing 33.
The course of work of rotary drive structure 11 is: as shown in Figure 4, in the time that rotating driver 35 is controlled the second expansion link 3501 and is stretched, the second expansion link 3501 drives the second drive rod 34 to be rotated counterclockwise, the second drive rod 34 again driven rotary bearing 33 is rotated counterclockwise, and then base arm 5 is rotated bearing 33 and drives around cylindrical bar 32 and be rotated counterclockwise position shown in dotted lines in Figure 4.When should rotating driver 35 controlling the second expansion link 3501 contracting, base arm 5 is got back to the position shown in Fig. 4 cathetus, and then realizes the angle orientation of claw 4 by the rotation of base arm 5.
Telescopic drive structure 12 is by controlling the flexible horizontal displacement that regulates claw of base arm 5.Telescopic drive structure 12 comprises a pair of linear bearing 42 that is fixed on housing 41 surfaces; Connecting the pair of sliding device 43 of substrate 31 bottom surfaces, it can slide on linear bearing 42; The surface of housing 41 is provided with telescopic driver 44.Telescopic driver 44 one end are protruding with the 3rd expansion link 4401, and its far-end connection one end is fixed on the other end of the connecting rod 46 of substrate 31 bottom surfaces.Therefore,, in the time that the 3rd expansion link 4401 stretches, substrate 31, base arm 5 and miscellaneous part mounted thereto all stretch thereupon, and then realize moving horizontally of claw 4.
Injection molding machine 54 arranges housing 41 belows, and injection molding machine 54 comprises flask clamp device 55, note pressure device 62.Flask clamp device 55 comprises and connects the fixed station 51 of steady mould 56, is arranged on driver element outside fixed station 51 regularly and supports platen (not indicating).Four pull bars (upper left, upper right, lower-left, bottom right) 52 are arranged at fixed station 51 and driver element supports between platen.Movable plate 53 is by pull bar 52 sliding supports.Housing 41 is connected to the upper end corner portions located of the fixed station 51 of injection molding machine 54 simultaneously, and container 61 is arranged on the side of injection device 62.
Workflow of the present utility model is as follows:
At first, product removal device 1 is arranged in the solid line position of Fig. 1, and claw 4 waits position at it.Correspondingly, after lifting driver 24 starts, the first expansion link 2401 extends to far-end, and claw 4 declines at full speed.In other words,, in the time that A rotating shaft 21 rotates clockwise, the cardinal extremity 701 of drive link 7 also turns clockwise.Because the length 102 on the first long limit 301 is set to the twice of the length 101 of drive link 7, the far-end 702 of drive link 7 is connected to the centre on the first long limit 301, and the first long limit 301 rotates along with the rotation of drive link 7.Therefore, the second minor face 302 moves along guide rail 6, and the first minor face 304 moves in the direction of motion perpendicular to the second minor face 302, moves straight down.
In the time that claw 4 arrives the extreme lower position that in Fig. 1, dotted line represents, claw 4 is caught a molded product by operation.Subsequently, lifting driver 24 starts, to move the first expansion link 2401 away from the direction of housing 41, to the claw 4 of grabbing product is elevated to the extreme higher position that in Fig. 1, solid line represents.Subsequently, the telescopic driver 44 of telescopic drive structure 12 starts, and moves base arm 5 to the direction near fixed station 51.
Secondly, as shown in Figure 4, after rotating driver 35 starts, the second expansion link 3501 is to far end activity.Therefore, swivel bearing 33 rotates, and base arm 5 position that solid line represents from Fig. 4 thereupon rotates the position that the angle of about 90 ° represents to dotted line in Fig. 4.Due to this rotation, claw 4 to arrow in Fig. 4 show direction rotation and arrive container 61 above.Correspondingly, in the time that claw 4 discharges moulded product in this position, moulded product is dropped into container 61.After aforesaid operations completes, claw 4 turns back to origin-location by a contrary action, therefore completes and once removes operation.
Fig. 5 has shown the operation principle of claw 4.
In the utility model, claw 4 postures remain constant, can move point-blank, and be fixed by parallelogram sturcutre 3, even large-scale moulded product also can be removed reposefully and do not disturbed pull bar 52 by the space between pull bar 52.
The first long limit 301 of parallelogram sturcutre is provided with multiple connecting holes, can change according to actual needs the link position of itself and drive link 7.In addition, in the present embodiment, the utility model is used as a product removal device, but the utility model also can be used as plugin card installation device, even changes the shape of claw, is used as chip mounter etc.
Mechanical system of the present utility model and control system can be simplified, to reduce total expenses, size and weight.Especially, can reduce the needed space of vertical direction, and improve the speed that product is removed.
In addition, it should be noted that, the specific embodiment described in this description, shape, institute's title of being named etc. of its parts and components can be different.All equivalence or simple change of doing according to described structure, feature and the principle of the utility model patent design, are included in the protection domain of the utility model patent.The utility model person of ordinary skill in the field can make various amendments or supplements or adopt similar mode to substitute described specific embodiment; only otherwise depart from structure of the present utility model or surmount this scope as defined in the claims, all should belong to protection domain of the present utility model.
Claims (9)
1. the robot for professional lathe, it is characterized in that: comprise claw (4), lifting drives structure (8), rotary drive structure (11) and telescopic drive structure (12), described claw (4) is fixed in described lifting drives structure (8), described lifting drives structure (8) is connected with described rotary drive structure (11) by base arm (5), and described rotary drive structure (11) is connected with described telescopic drive structure (12) by substrate (31);
Described lifting drives structure (8) comprises lifting driver (24), the first drive rod (23), drive link (7) and parallelogram sturcutre (3), described lifting driver (24) is fixed on the surface of described base arm (5), described the first drive rod (23) one end is connected to described lifting driver (24), the other end is connected to the cardinal extremity (701) of described drive link (7) by A rotating shaft (21), the far-end (702) of described drive link (7) is connected to described parallelogram sturcutre (3), described claw (4) is fixed on a limit of described parallelogram sturcutre (3), in described parallelogram sturcutre (3), slide and be fixed on the surface of described base arm (5) in a limit relative with the limit of fixing described claw (4),
Described rotary drive structure (11) comprises rotating driver (35), the second drive rod (34) and swivel bearing (33), described the second drive rod (34) one end connects described rotating driver (35), the other end is fixedly connected with described swivel bearing (33), and described swivel bearing (33) is fixed on base arm (5).
2. a kind of robot for professional lathe according to claim 1, it is characterized in that: described telescopic drive structure (12) comprises telescopic driver (44) and connecting rod (46), described telescopic driver (44) is fixedly attached to the bottom surface of described substrate (31) by described connecting rod (46).
3. a kind of robot for professional lathe according to claim 1 and 2, is characterized in that: described lifting driver (24), rotating driver (35) and telescopic driver (44) are respectively equipped with expansion link.
4. a kind of robot for professional lathe according to claim 3, it is characterized in that: described lifting driver (24) is fixed on the surface of described base arm (5) by A bracket (25) rotation away from the one end that is provided with described the first expansion link (2401), described the first expansion link (2401) connects described the first drive rod (23) one end away from drive link (7).
5. according to a kind of robot for professional lathe described in claim 1 or 4, it is characterized in that: described claw (4) is fixed on first minor face (304) of described parallelogram sturcutre (3), and second minor face (302) of described parallelogram sturcutre (3) is arranged on the guide rail (6) on described base arm (5) surface.
6. a kind of robot for professional lathe according to claim 5, is characterized in that: between the long limit (301 and 303) of described parallelogram sturcutre (3) and minor face (302 and 304), be rotatably connected.
7. a kind of robot for professional lathe according to claim 6, is characterized in that: the posture of described claw (4) remains unchanged.
8. a kind of robot for professional lathe according to claim 1 and 2, it is characterized in that: described substrate (31) upper surface one end is provided with cylindrical bar (32), the other end is provided with B bracket (36), and described B bracket (36) is rotatably connected away from the second expansion link (3501) one end with described rotating driver (35).
9. a kind of robot for professional lathe according to claim 8, is characterized in that: described swivel bearing (33) rotation is wrapped in outside described cylindrical bar (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420387327.4U CN203973537U (en) | 2014-07-14 | 2014-07-14 | A kind of robot for professional lathe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420387327.4U CN203973537U (en) | 2014-07-14 | 2014-07-14 | A kind of robot for professional lathe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203973537U true CN203973537U (en) | 2014-12-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420387327.4U Expired - Fee Related CN203973537U (en) | 2014-07-14 | 2014-07-14 | A kind of robot for professional lathe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203973537U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926246A (en) * | 2015-12-31 | 2017-07-07 | 中微半导体设备(上海)有限公司 | A kind of mechanical arm used in vacuum environment |
-
2014
- 2014-07-14 CN CN201420387327.4U patent/CN203973537U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926246A (en) * | 2015-12-31 | 2017-07-07 | 中微半导体设备(上海)有限公司 | A kind of mechanical arm used in vacuum environment |
| CN106926246B (en) * | 2015-12-31 | 2019-05-28 | 中微半导体设备(上海)股份有限公司 | Mechanical arm used in a kind of vacuum environment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141203 Termination date: 20150714 |
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| EXPY | Termination of patent right or utility model |